Safety Function Settings
Classification | Safety Settings | Description | |
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1 | Basic/Universal Settings | World Coordinates Setting | A coordinate system representing the robot and workpiece can be set. |
The universal safety limit for joints and robot/TCP safety-rated monitoring functions can be set. | |||
Safety Signal I/O Setting | Configurable digital I/O ports can be set as safety signal I/Os. | ||
Safety Stop Modes | The Stop Mode can be set when the Emergency Stop or Protective Stop is activated, or when the safety-rated monitoring function detects limit violation. | ||
Parameters related to the nudge function, which is capable of resetting Protective Stop or resuming auto operation of the robot can be set when specific conditional are met. | |||
2 | Tool and Robot Pose | The workpiece payload, which acts as the basis for control and safety functions, can be set. | |
Robot tool shapes, which are used in space limit and self-collision prevention functions, can be set. | |||
The robot installation pose can be set. | |||
3 | Space Limit | Space Limit Setting | The robot/TCP position limit function can be activated. |
4 | Zone | It is the zone which can be set for collaborative work between robot and operator.
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Setting the Crushing Prevention Zone | The robot work position and space around obstacles can be set to reduce the risk of limbs jamming between robots and obstacles.
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Just like the case where force must be applied via contact with the workpiece, collision detection and TCP force limit safety functions can be disabled (Muting) or can be used to ease off the limit.
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This can be used to reduce risks related to the direction of the workpiece or tool of the robot.
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Setting the custom zone | Safety limits can be used differently by zones depending on the necessity of robot application.
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